UAV payload module camera assembly and retraction mechanism

ABSTRACT

In one possible embodiment, a UAV payload module retraction mechanism is provided including a payload pivotally attached to a housing. A biasing member is mounted to bias the payload out of the housing and a winch is attached to the payload. An elongated flexible drawing member is coupled between the housing and the winch, the elongated drawing flexible member being capable of being drawn by the winch to retract the payload within the housing.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/666,386, filed Oct. 28, 2019, by Zwaan et al., entitled UAV PAYLOADMODULE CAMERA ASSEMBLY AND RETRACTION MECHANISM herein incorporated byreference in its entirety, which is a continuation of U.S. patentapplication Ser. No. 16/130,997, filed Sep. 13, 2018, by Zwaan et al.,entitled UAV PAYLOAD MODULE CAMERA ASSEMBLY AND RETRACTION MECHANISMherein incorporated by reference in its entirety, which is acontinuation of U.S. patent application Ser. No. 15/829,214, filed Dec.1, 2017, by Zwaan et al., now U.S. Pat. No. 10,189,581, issued Jan. 29,2019, entitled UAV PAYLOAD MODULE CAMERA ASSEMBLY AND RETRACTIONMECHANISM herein incorporated by reference in its entirety, which is acontinuation of U.S. patent application Ser. No. 15/007,206, filed Jan.26, 2016, by Zwaan et al., now U.S. Pat. No. 9,850,004, Issued Dec. 26,2017, entitled UAV PAYLOAD MODULE CAMERA ASSEMBLY AND RETRACTIONMECHANISM herein incorporated by reference in its entirety, which is acontinuation of U.S. patent application Ser. No. 13/730,828, filed Dec.29, 2012, by Zwaan et al., now U.S. Pat. No. 9,309,006, Issued Apr. 12,2016 entitled UAV PAYLOAD MODULE CAMERA ASSEMBLY AND RETRACTIONMECHANISM herein incorporated by reference in its entirety, which is acontinuation of PCT Application number PCT/US2011/042376, by Zwaan etal., entitled UAV PAYLOAD MODULE CAMERA ASSEMBLY AND RETRACTIONMECHANISM, filed 29 Jun. 2011, herein incorporated by reference in itsentirety, which claims the benefit of the following U.S. ProvisionalApplications, which are both herein incorporated by reference in theirentireties:

U.S. Provisional Application No. 61/359,817 filed on 29 Jun. 2010, byBelik, et al., entitled UAV PAYLOAD MODULE CAMERA ASSEMBLY ANDRETRACTION MECHANISM; and

U.S. Provisional Application No. 61/359,809 filed on 29 Jun. 2010, byBelik, et al., entitled UAV HAVING HERMETICALLY SEALED MODULARIZEDCOMPARTMENTS AND FLUID DRAIN PORTS.

BACKGROUND

Reducing weight and size are paramount in the design of small unmannedvehicles. Small unmanned aerial vehicles or UAVs typically are designedto be launched from, and land on dry land. Such vehicles are now beingsought that can operate while being exposed to, or after being exposedto aquatic environments. For example, it may be preferred to land anunmanned aerial vehicle on water, rather than on land, either to lessenthe impact of landing, or because it is more easily retrievablelocation. Typically, amphibious aircraft, both manned and unmanned, areable to take off and land in water.

Hand launched amphibious UAVs though are not required to take off fromthe water, but are required to land on dry land, or on water. Some handlaunced UAVs are designed to land by skidding along, or impacting theground, which is considerably more abrupt than water landings.

What is needed is an amphibious UAV that can withstand high impactground landings.

SUMMARY

In one possible embodiment, a UAV payload module retraction mechanism isprovided including a payload pivotally attached to a housing. A biasingmember is mounted to bias the payload out of the housing and a winch isattached to the payload. An elongated flexible drawing member is coupledbetween the housing and the winch, the elongated drawing flexible memberbeing capable of being drawn by the winch to retract the payload withinthe housing.

In various embodiments, the payload is pivotally attached to a forwardposition in the housing, such as by a hinge. In various embodiments, thehinge is located forward of the payload when the payload is in a stowedposition. In some embodiments, the hinge may include a pivot shaft, withthe biasing member including a spring disposed about the pivot shaft. Invarious embodiments, the biasing member urges the payload into adeployed position.

In various embodiments, the payload includes a camera assembly whichincludes a camera and a pan tray, the pan tray being pivotally attachedto the housing via a hinge, the pan tray having the winch and panactuator. In some embodiments, the pan actuator is located between thehinge and the winch.

In various embodiments, the elongated flexible drawing member may be acable, belt, or other drawing means.

In one possible embodiment, a UAV payload module retraction mechanism isprovided having a payload module having a housing with an opening in abottom wall of the housing. A payload is pivotally attached in a forwardposition within the housing. A biasing member is mounted to bias thepayload out of the housing. A winch is mounted to the payload and aflexible cable is coupled between the housing and the winch forretracting the payload into and releasing the payload from the housing.

In various embodiments, the payload may include a camera assemblysituated to pivot out of the housing through the opening in the bottomwall. In some embodiments, the flexible cable is a belt. The biasingmember may urge the payload to a deployed position and may include aspring. In various embodiments, the payload is pivotally attached to aforward wall of the housing via a hinge. In some embodiments, the hingemay include a pivot shaft, and the biasing member include a springdisposed about the pivot shaft.

In various embodiments, the payload further includes a camera assemblyhaving a pan tray mounted therewith, the pan tray being pivotallyattached to the housing via a hinge, the pan tray including the winchand pan actuator, with pan actuator being located between the hinge andthe winch.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of the present invention will be betterunderstood with regard to the following description, appended claims,and accompanying drawings where:

FIG. 1 shows a simplified perspective view of an amphibious unmannedaerial vehicle.

FIG. 2 shows a simplified top view of the fuselage of the amphibiousunmanned aerial vehicle of FIG. 1 .

FIG. 3 shows a simplified side view of the fuselage of an amphibiousunmanned aerial vehicle of FIG. 1 .

FIG. 4 shows a simplified cut away side view of one embodiment of apayload module.

FIG. 5 shows a simplified cut away side view of one embodiment of apayload module of FIG. 4 , with the payload partially retracted into thehousing.

FIG. 6 shows a simplified cut away side view of one embodiment of apayload module of FIG. 4 , with the payload fully retracted into thehousing.

FIG. 7 shows a simplified cut away top view of one embodiment of the pantray of the camera assembly.

DESCRIPTION Amphibious Unmanned Aerial Vehicle

FIG. 1 shows a simplified perspective view of an amphibious unmannedaerial vehicle or UAV 10. The UAV 10 has a fuselage 100 of theamphibious unmanned aerial vehicle 10 has modularized compartments 120,130, and 140 to contain modular components or modules, such as a batterymodule 20, a payload module 30, and avionics electronics module 40. Invarious embodiments, the wings 15 and/or 16 may be constructed ofmultiple pieces, which may separate, and/or “break away” or separatefrom the fuselage 100 during landings.

FIG. 2 shows a simplified top view of the fuselage 100 of the amphibiousunmanned aerial vehicle 10 of FIG. 1 . The walls 110 of the fuselage 100are composed of a buoyant material so that the fuselage 100 will floatwithout wings (not shown) attached when the fuselage is fully loadedwith components, such as the battery 20, the payload 30, and theavionics electronics 40, shown in FIG. 1 , and other aircraft parts andcomponents. For example, the walls 110 may have a molded foam coresealed with a waterproof skin, though this is not required. The walls110 may be a single continuous wall or multiple wall sections, or thelike.

In this embodiment, the fuselage is separated into three compartments, aforward battery compartment 120, a central payload compartment 130, anda rear avionics compartment 140. The forward battery compartment 120 isseparated from the central payload compartment 130 by separator wall150. The central payload compartment 130 is separated from the rearavionics compartment 140 by separator wall 160. In the embodiment shown,tabs 104, 105, and 106 are employed as a means to secure the components(not shown) in the compartments 120, 130, and 140. The tab 105 may berotated by hand using the pivotable handle 105 h to allow installationof a battery (not shown) and then rotated back to the position shown tolock the battery in the forward battery compartment 120. Other securingmechanisms may be used instead or in addition to the rotatable tabs 104,105, and 106.

The battery compartment 120 has mounting surfaces 122 which support abattery (not show). In this embodiment, a connector 124, which may be asurface mount connector or the like, is generally flush with themounting surfaces 122. Channels 126 f and 126 r are recessed below themounting surfaces 122. Drainage openings such as weep holes 128 b in thechannel 126 f extend through the bottom wall 110 b of the fuselage 100.Weep holes 128 s (shown in FIGS. 1-3 ) in the channel 126 r extendthrough the side wall 110 s of the fuselage 100.

The mating surface 124 m of the connector 124 is located above thechannels 126 f and 126 r so that the mating surface is not submerged inwater when the battery 20 (FIG. 1 ) is connected/disconnected, if thefuselage is out of the water. Wiring 123 f and 123 b may be routed inthe channels 126 f and 126 b, respectively, and recessed and/or embeddedthrough the fuselage 100 to provide power to the motor (not show) andavionics electronics module 40 and/or a payload module 30.

The central payload compartment 130 has front and rear mounting surfaces132 f and 132 r which support a payload, such as a camera assembly (notshown). The payload module 30 may contain the imaging, sensing, or otherpassive, active, non-lethal, or lethal payload devices. In thisembodiment, a connector 134, which may be a surface mount connector orthe like, is generally flush with the mounting surface 132 r. Themounting surface 132 r may form an enclosure 163 to contain theconnector 134 and associated wiring. The enclosure may form a lower partof the separator wall 160. Weep holes 228 s (shown in FIGS. 1-3 ) mayextend from inside the enclosure 163 through the side wall 110 s toallow water to exit the enclosure 163. In this embodiment, the centralcompartment 130 has a large opening 131 in the bottom so that a cameracan be utilized, such as by viewing downward or by lowering it into theairstream through the large opening 131. The large opening 131 alsoallows drainage of fluid from the central compartment 130.

In various embodiments, the mating surface 134 m of the connector 134may be located high above the opening 131, on the top of the enclosure163, so that the mating surface is not submerged in water when thepayload 30 (FIG. 1 ) is connected/disconnected, even if the fuselage isnot completely out of the water.

The rear avionics compartment 140 has a mounting surface 142 in a bottomof the avionics compartment 140. The mounting surface 142 has a forwardchannel 146 f and a rear channel 146 r. Channels 146 f and 146 r arerecessed below the mounting surface 142. Drainage openings such as weephole 228 s (shown in FIGS. 1-3 ) in channel 146 f extends through theside wall 110 s of the fuselage 100. Weep holes 228 b (shown in FIGS. 2and 3 ) in the channel 146 r extend through the bottom wall 110 b of thefuselage 100. A sloping recess 229 in the mounting surface 142 drainswater off the mounting surface 142 and into the channel 146 r.

The embodiment shown in FIG. 3 has an opening 141 in the side wall 110 sof fuselage 110, to expose a heat sink 41 (FIG. 1 ) and allow heatgenerated by the avionics electronics 40 (FIG. 1 ) to be released.

FIG. 3 shows a simplified side view of the fuselage 100 of an amphibiousunmanned aerial vehicle 10 of FIG. 1 . In this embodiment, optional skidpads 180 and 190 are secured to the bottom wall 110 b of the fuselage100. The skid pads 180 and 190 are used in this embodiment for landingon hard surfaces. The skid pad 180 may be located directly below theforward compartment 120 and may be fabricated of a durable shockabsorbing material of sufficient thickness and density to furtherprotect from impact the component within the compartment 120, such asthe battery 20 (FIG. 1 ). Similarly, the skid pad 190 may be locateddirectly below the rear compartment 140, and may be fabricated of adurable shock absorbing material of sufficient thickness and density tofurther protect from impact a component within the compartment 140, suchas the avionics electronics 40 (FIG. 1 ).

Weep holes 128 s extend through the side wall 110 s of the fuselage 100.The weep hole 128 s extends through the side wall 110 s and into rearchannel 126 r of the battery compartment 120. The weep hole 228 sextends through the side wall 110 s and into the enclosure 163 of thecentral payload compartment 130.

The fluid drainage openings may be weep holes, fluid drainage ports, orthe like.

Various embodiments provide a fuselage 100 for a UAV which can land bothon water and rugged terrain. Instead of sealing the entire aircraft fromwater intrusion, various embodiments achieve the ability to land onwater by having just the individual electrical and electroniccomponents, i.e. battery, payload, avionics electronics, and associatedconnectors and wiring, hermetically sealed.

This allows the rest of the aircraft to remain buoyant and any water inthe aircraft draining by a set of fluid drain ports when the UAV isretrieved from the water. In this manner, the protection of theelectrical and electronic components is not dependant on maintaining theintegrity of the fuselage 100 or the exterior walls 110, which is likelyto be damaged during landings on hard and/or rugged surfaces (typical ofland landings).

This also allows the volume within the aircraft that needs to bewaterproof to be minimized, thus reducing weight and overall systemcomplexity.

Further, the aircraft's ability to land on hard surfaces or ruggedterrain without damage to the electrical and electronic components isachieved not just by having these components encased in modularizedcompartments 120, 130, and 140, but also by allowing the walls 110 ofthe compartments 120, 130, and 140 to be partially compromised withoutnecessarily causing failure of the UAV. The walls 110 create an impactzone around the electrical and electronic components within thecompartments 120, 130, and 140, and the separators inhibit thecomponents 20, 30, and 40 from impacting each other. Optionally, in someembodiments, the walls 110 and mounts 122, 132 f, 132 r, and 142 aresuch that the components 20, 30, and 40 (FIG. 1 ) are recessed from thewalls 110 and/or their respective separators 150 and 160 (FIG. 2 ).Additional shock absorbing material (not shown) may be added within thecompartments 120, 130, or 140 to further reduce any chance of damage tothe components 20, 30, or 40 from impacts.

As illustrated in FIGS. 1 and 2 , the fuselage 110 may contain anoptional exterior channel 110 c in the side 110 s of the fuselage 110,extending rearward from a hole 218 in the side wall 110 s at theavionics compartment 140, to the tail section of the aircraft 10. Wiring203 extends through the hole 218 and along the exterior channel 110 c toconnect the avionics component 40 to an actuator assembly 202 foractuating the control surfaces in the tail of the aircraft 10. Theexterior channel 110 c allows the wiring to be easily accessed forinspection, repair, and replacement.

Retractable Camera Assembly FIGS. 4-7

FIG. 4 shows a simplified cut away side view of one embodiment of apayload module 30. Referring to FIGS. 1, 3 and 4-7 , a retractionmechanism 410 is provided for a payload 400 for moving the payload 400from a stowed position (shown in FIG. 6 ) within the UAV 10 to aposition extended out of the payload module 30 as shown in FIG. 4 , andthus from the bottom 110 b of the fuselage 100 of the UAV 10. FIG. 5shows a simplified cut away side view of one embodiment of a payloadmodule 30 of FIG. 4 , with the payload 400 partially retracted into thehousing 35 and FIG. 6 shows a simplified cut away side view of oneembodiment of a payload module 30 of FIG. 4 , with the payload fullyretracted into the housing 35.

The payload 400 may be a gimbaled pan and tilt camera assembly 405 asshown, which, when in the extended position can view about and below theUAV 10. During retraction or extension of the camera assembly 405, thecamera assembly 405 moves about a single pivot point/axis or hinge 420.The camera assembly 405 moves as shown by the arrows 422 d in thedirection of deployment outside of the housing 35, and 422 s in thedirection to stow the payload 400 within the housing 35. In otherembodiments, the hinge 420 may have multiple pivot points with multiplepivot axes (not shown).

Generally, opposite of this hinge 420 on the camera assembly 405 is awinch 430. The winch 430 is in turn connected by a cable 440 at, to, orwith a wall 35 w of the housing 35, either directly or indirectly, suchas with a fastener 450, or other securing means to the forward wall 35f, so that the camera assembly 405 can be fully retracted within thehousing 35 of the module 30 by operation of the winch 430. The winch 430is located in the pan tray 415.

A biasing member, such as a spring 460, at or about the hinge 420 isused to bias the payload 400 down to its extended position (shown inFIG. 4 ). Stops, rests, or limiters (not shown) associated with thecamera assembly 405 and/or the housing 35 may be utilized limit motionof the camera assembly in its extended position. In some embodiments,the cable 440 may by itself, or in addition to other limiters, limit themotion of the camera assembly 405 in its extended position and thus maybe in tension when the camera is fully extended. Further, in someembodiments, the spring 460 provides enough force to keep the cameraassembly 405 stable when extended into the airstream. In otherembodiments, an actuatable locking mechanism (not shown), may be usedsecure the camera assembly when extended, if desired.

The payload 400 may be situated in the UAV 10 so rotation of the cameraassembly 405 about the hinge 420 into the housing occurs along thedirection of the travel of the UAV 10. In the event of a failure of theretraction mechanism 410, this configuration allows the camera assembly405 to retract back into the UAV 10 as it contacts the ground uponlanding, thereby reducing the probability, or severity of damage to thepayload 400. To facilitate this, the hinge 420, or other pivot means, islocated forward and near the bottom of the housing 35. Thus, the hinge420 may be located on the forward wall 35 f of the housing 35, so thatthe axis of the hinge pivot shaft 795 (FIG. 7 ) is orthogonal to thedirection of motion of the UAV 10.

The use of the cable 440 further provides for robust operation andenvironmental survivability, as well as a reduction in weight. The termcable as referred to herein includes braided cable, ribbon cable, abelt, a strap, a rope, a chain, or other flexible means to supporttension or strain. In one embodiment, the cable 440 may be a NYLON,KEVLAR, or other material belt that is reliable, lightweight, and notsusceptible to corrosion.

In the embodiment, the fastener 450 may also function as a stop or rest450 r for the camera assembly 405. In this embodiment, the pan tray 415seats against the rest 450 r when the camera assembly is fully retractedas shown of FIG. 6 . In other embodiments, the fastener 450 and the rest450 r may be separate mechanisms.

FIG. 7 shows a simplified cut away top view of one embodiment of the pantray 415 of the camera assembly 405. The pan tray 415 houses the panmotor assembly 745, which is used to pan the camera assembly 405. Thewinch motor 735 is also housed within the pan tray 415 and is coupledvia worm gears 755, also housed in the pan tray 415, to the winch drum785. The winch drum 785 is external to the pan tray 415 and is locatedopposite the pivot shaft 795.

In this embodiment, the bottom 35 b of the housing 35 is not sealed sothe payload module 30 has an open bottom 35 b to facilitate deploymentof the payload 400. Thus, in this embodiment the pan tray 415, as wellas the tilt cylinder 425 are individually sealed. The tilt cylinder 725typically houses the tilt motor assembly (not show) and the imaging,sensing, or other passive, active, non-lethal, or lethal payload devices465 and 475.

It is worthy to note that any reference to “one embodiment” or “anembodiment” means that a particular feature, structure, orcharacteristic described in connection with the embodiment may beincluded in an embodiment, if desired. The appearances of the phrase “inone embodiment” in various places in the specification are notnecessarily all referring to the same embodiment.

The illustrations and examples provided herein are for explanatorypurposes and are not intended to limit the scope of the appended claims.This disclosure is to be considered an exemplification of the principlesof the invention and is not intended to limit the spirit and scope ofthe invention and/or claims of the embodiment illustrated.

Those skilled in the art will make modifications to the invention forparticular applications of the invention.

The discussion included in this patent is intended to serve as a basicdescription. The reader should be aware that the specific discussion maynot explicitly describe all embodiments possible and alternatives areimplicit. Also, this discussion may not fully explain the generic natureof the invention and may not explicitly show how each feature or elementcan actually be representative or equivalent elements. Again, these areimplicitly included in this disclosure. Where the invention is describedin device-oriented terminology, each element of the device implicitlyperforms a function. It should also be understood that a variety ofchanges may be made without departing from the essence of the invention.Such changes are also implicitly included in the description. Thesechanges still fall within the scope of this invention.

Further, each of the various elements of the invention and claims mayalso be achieved in a variety of manners. This disclosure should beunderstood to encompass each such variation, be it a variation of anyapparatus embodiment, a method embodiment, or even merely a variation ofany element of these. Particularly, it should be understood that as thedisclosure relates to elements of the invention, the words for eachelement may be expressed by equivalent apparatus terms even if only thefunction or result is the same. Such equivalent, broader, or even moregeneric terms should be considered to be encompassed in the descriptionof each element or action. Such terms can be substituted where desiredto make explicit the implicitly broad coverage to which this inventionis entitled. It should be understood that all actions may be expressedas a means for taking that action or as an element which causes thataction. Similarly, each physical element disclosed should be understoodto encompass a disclosure of the action which that physical elementfacilitates. Such changes and alternative terms are to be understood tobe explicitly included in the description.

Having described this invention in connection with a number ofembodiments, modification will now certainly suggest itself to thoseskilled in the art. The example embodiments herein are not intended tobe limiting, various configurations and combinations of features arepossible. As such, the invention is not limited to the disclosedembodiments, except as required by the appended claims.

What is claimed is:
 1. A method in a UAV comprising: a) applying abiasing force to a payload to bias a payload out of the UAV; b)retaining the payload within the UAV using a flexible retractionmechanism; c) extending the payload from the UAV using the flexibleretraction mechanism; and d) retracting the payload using a flexibleretraction mechanism so as to cause the payload to retract into the UAVfrom the deployed position while biasing the payload out of the UAV. 2.The method of claim 1, wherein extending the payload comprises extendingthe payload from the fuselage.
 3. The method of claim 2 furthercomprising: a) launching the UAV; b) landing the UAV without usinglanding gear; and c) wherein extending the payload comprises extendingthe payload after launching and before landing the UAV.
 4. The method ofclaim 1 further comprising: a) launching the UAV and extending thepayload from the UAV; and b) landing the UAV without using landing gear.5. The method of claim 4, wherein landing the UAV comprises landing theUAV on water.
 6. The method of claim 4, wherein landing the UAVcomprises landing the UAV on land.
 7. The method of claim 4, whereinlaunching the UAV comprises launching the UAV by hand.
 8. The method ofclaim 4, wherein landing comprises using a skid pad.
 9. The method ofclaim 1 further comprising: a) launching the UAV by hand; and b) landingthe UAV on water.
 10. The method of claim 1 further comprising: a)launching the UAV by hand; and b) landing the UAV on land.